The Robotics Institute

RI | Centers | CFR | Seminar

Foundations of Robotics Seminar, November 17, 2009
Time and Place | Seminar Abstract



A Proof for Probabilistically Complete Planning with End-Effector Pose Constraints

Dmitry Berenson
RI

CMU
 

 

Time and Place

NSH 1507
Talk 4:30 pm

Abstract

 

We present a proof for the probabilistic completeness of the Constrained BiDirectional RRT (CBiRRT) when planning with constraints on end-effector pose. Pose constraints can induce lower-dimensional constraint manifolds in the configuration space of the robot, making rejection-sampling techniques infeasible. The CBiRRT overcomes this problem by using random sampling coupled with projection methods to move configuration space samples onto the constraint manifold. Until now it was not known whether this sampling scheme produced adequate coverage of the manifold to guarantee probabilistic completeness. The proof presented in this talk guarantees probabilistic completeness for the CBiRRT, as well as other sampling-based planners, given an appropriate projection operator. This proof is valid for any end-effector pose constraint, regardless of the dimensionality of the manifold induced by the constraint.

 

Bio

 

 


The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.